公开(公告)号：US11880200B2

公开(公告)日：2024-01-23

申请号：US17958556

申请日：2022-10-03

Applicant: WAYMO LLC

Inventor： Peter Avram ,  Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi

IPC: G05D1/00 ,  G01S17/86 ,  B60W60/00 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/481 ,  G01S13/86 ,  G01S13/89 ,  G01S17/89 ,  G05D1/02 ,  H04N23/74 ,  B60S1/56 ,  G06F18/25

CPC classification number: G05D1/0088 ,  B60W10/18 ,  B60W10/20 ,  B60W60/001 ,  G01S7/02 ,  G01S7/4813 ,  G01S13/867 ,  G01S13/89 ,  G01S17/86 ,  G01S17/89 ,  G05D1/0214 ,  G06V20/58 ,  H04N23/74 ,  B60S1/56 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  G01S7/027 ,  G05D2201/0213 ,  G06F18/25

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US20230393244A1

公开(公告)日：2023-12-07

申请号：US18229259

申请日：2023-08-02

Applicant: WAYMO LLC

Inventor： Kimberly Geneva Toth ,  Brendan Hermalyn ,  Shane Mcguire ,  Felix Jose Alvarez Rivera ,  Jeremy Dittmer ,  Andreas Wendel

IPC: G01S7/481 ,  G05D1/02 ,  B60R11/04 ,  G05D1/00 ,  H04N23/51

CPC classification number: G01S7/4813 ,  G05D1/0246 ,  B60R11/04 ,  G05D1/0088 ,  H04N23/51 ,  G05D2201/0213 ,  B60R2300/102 ,  B60R2300/105

Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.

公开(公告)号：US11557127B2

公开(公告)日：2023-01-17

申请号：US16737263

申请日：2020-01-08

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06V20/58 ,  G01S17/931 ,  G01S17/894 ,  B60R11/04 ,  H04N5/232

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US20210201054A1

公开(公告)日：2021-07-01

申请号：US16737263

申请日：2020-01-08

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06K9/00 ,  G01S17/931 ,  G01S17/894 ,  H04N5/232 ,  B60R11/04

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US20210134012A1

公开(公告)日：2021-05-06

申请号：US17149621

申请日：2021-01-14

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10930014B2

公开(公告)日：2021-02-23

申请号：US16547427

申请日：2019-08-21

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60 ,  G06K9/00

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10432912B2

公开(公告)日：2019-10-01

申请号：US15720979

申请日：2017-09-29

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: H04N13/246 ,  G06T7/80 ,  G01B11/25 ,  G06T7/60 ,  H04N13/282

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US20190208136A1

公开(公告)日：2019-07-04

申请号：US16214589

申请日：2018-12-10

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn

IPC: H04N5/247 ,  H04N5/232 ,  G06T7/20 ,  H04N5/917 ,  H04N7/12

CPC classification number: H04N5/247 ,  B60R11/04 ,  B60R2011/0026 ,  B60R2011/004 ,  G05D1/0246 ,  G05D2201/0213 ,  G06T7/20 ,  G06T2207/30252 ,  H04N5/23229 ,  H04N5/917 ,  H04N7/12

Abstract: An optical system for a vehicle may be configured with a plurality of camera sensors. Each camera sensor may be configured to create respective image data of a respective field of view. The optical system is further configured with a plurality of image processing units coupled to the plurality of camera sensors. The image processing units are configured to compress the image data captured by the camera sensors. A computing system is configured to store the compressed image data in a memory. The computing system is further configured with a vehicle-control processor configured to control the vehicle based on the compressed image data. The optical system and the computing system can be communicatively coupled by a data bus.

公开(公告)号：US20190186931A1

公开(公告)日：2019-06-20

申请号：US15842055

申请日：2017-12-14

Applicant: Waymo LLC

Inventor： Jeremy Dittmer ,  Andreas Wendel

IPC: G01C21/34 ,  G05D1/02 ,  G06K9/00 ,  G06T7/70

CPC classification number: G01C21/3461 ,  G05D1/0246 ,  G06K9/00791 ,  G06T7/70 ,  G06T2207/10004

Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.

公开(公告)号：US20190104295A1

公开(公告)日：2019-04-04

申请号：US15720979

申请日：2017-09-29

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: H04N13/02 ,  G06T7/80 ,  G06T7/60 ,  G01B11/25

CPC classification number: G06T7/80 ,  G06K9/46 ,  G06T2207/30204

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.